Obstacle avoidance itinerant method and system of mowing robot

Abstract

The invention discloses an obstacle avoidance itinerant method and system for a mowing robot, provides a comprehensive solution for intelligently calculating an optimal path for the mowing robot to move to a specified position and realize autonomous obstacle avoidance, considers the characteristics of motor control, and aims to improve the movement ability and mowing efficiency of the mowing robot. When the method provided by the embodiment of the invention is used in a relatively open lawn, too high computing power support does not need to be provided, and a relatively accurate real-time pose can be obtained by using GPS differential positioning so as to achieve the purpose of accurately avoiding obstacles and touring even in a narrow gap.

Description

technical field [0001] The application belongs to the technical field of mowing robots, and in particular relates to an obstacle-avoiding itinerant method and system for a mowing robot. Background technique [0002] At present, the mature intelligent mobile lawn mowing robots on the market generally adopt the scheme of embedding energized wires at the boundary to establish an electronic fence and identifying the boundary through electromagnetic induction (such as the Chinese patent document with the application number CN202010754661.9), and the mowing within the wire boundary Most of the grass robots move on a random path and use the distance sensor to go around at an appropriate distance to avoid obstacles on the path (such as the Chinese patent document with the application number CN201911129591.1), and a few advanced models will use the full-coverage cow farming method. (such as the Chinese patent document whose application number is CN201810446075.0). And when the mowin...

AI Technical Summary

Problems solved by technology

[0003] In the existing mobile mode of lawn mowing robots, the movement trajectory of the random path is often not purposeful. After encountering obstacles and changing the direction, it is likely to lead to prolonged working hours, changes in the mowing direction, and increased repetition rate of mowing. The problem is that it is easy to cause uneven coverage of the mowed area, and then the effect of completely mowing the grass cannot be achieved, and returning to the charging station along the border after the work is completed will consume more time and electricity than returning directly to the shortest path. This solution not only There is a risk of stalling in the middle and it also limits the location of the charging station to the buried line boundary

In addition, for large obstacles that exist on the lawn for a long time, such as ponds, flower beds, etc., it is necessary to add wires to divide the restricted area, resulting in an increase in the complexity of the map, an increase in the amount and cost of embedding engineering, and the addition of wires must increase the energized wire path. Blank map, so that the grass in this part of the area is ignored by the mowing robot

At the same time, moving on the lawn along the same path for a long time will leave marks on the lawn and affect the appearance

However, the full-coverage cattle plowing path planning requires full-coverage search location points, which affects the efficiency of path planning to a certain extent, making the entire algorithm less flexible.

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